Table 7.

Accuracy Metrics for Attitude (Roll; Pitch; Yaw) and Velocity (FLU and ENU Coordinate Frames) Error. Multi-Frequency/Multi-Constellation Algorithm, with and Without Odometry Aiding.

Quantity	Unit	Data Set 1,	Data Set 1,	Data Set 2,	Data Set 2,
		Odometry Off	Odometry On	Odometry Off	Odometry On
RMS of ${\tilde{\psi }}_{nb}^n$	${}^{\circ }$	$[0.1;\phantom{-}0.1;\phantom{-}0.7]$	$[0.1;\phantom{-}0.1;\phantom{-}0.7]$	$[0.1;\phantom{-}0.1;\phantom{-}0.9]$	$[0.1;\phantom{-}0.1;\phantom{-}0.9]$
50%/95% yaw	${}^{\circ }$	0.2/1.1	0.2/0.8	0.3/0.8	0.1/0.4
error quantile
RMS of ${\tilde{v}}_{en}^b$	$\frac{\mathrm{cm}}{\mathrm{s}}$	$[6;\phantom{-}10;\phantom{-}5]$	$[5;\phantom{-}2;\phantom{-}4]$	$[6;\phantom{-}13;\phantom{-}5]$	$[7;\phantom{-}4;\phantom{-}6]$
50%/95% hor.	$\frac{\mathrm{cm}}{\mathrm{s}}$	6/23	3/10	8/29	5/16
quantile of ${\tilde{v}}_{en}^b$
RMS of ${\tilde{v}}_{en}^n$	$\frac{\mathrm{cm}}{\mathrm{s}}$	$[9;\phantom{-}7;\phantom{-}4]$	$[6;\phantom{-}5;\phantom{-}4]$	$[4;\phantom{-}6;\phantom{-}4]$	$[5;\phantom{-}7;\phantom{-}5]$